After I finished all my exams and took a rest for a couple of weeks I returned to my master thesis.
So what did I do in this period:

added separate neural networks that acts as forward and inverse model, which both learns from data gathered during CACLA learning (to reach object).

created a C++ class with a lot of helpful commands for iCub (methods for environment construction, body manipulation, etc.)

created class which specializes on grasping (hand manipulation) with parametrized methods to hand flexion, extension and such things.

I plan to connect this grasping class to some learning algorithm (like CACLA) and experiment with it.

I also read more carefully an article about Infant grasp learning and found out lots of interesting biological information (maybe I can later compare my experiment with iCub to how human infants learn to grasp).